CN109196436A - Industrial automation vacuum cleaner and method for construction tool automation services - Google Patents
Industrial automation vacuum cleaner and method for construction tool automation services Download PDFInfo
- Publication number
- CN109196436A CN109196436A CN201780033089.3A CN201780033089A CN109196436A CN 109196436 A CN109196436 A CN 109196436A CN 201780033089 A CN201780033089 A CN 201780033089A CN 109196436 A CN109196436 A CN 109196436A
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- vacuum cleaner
- construction tool
- construction
- tool
- automation
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- 238000010276 construction Methods 0.000 title claims abstract description 243
- 238000000034 method Methods 0.000 title claims description 22
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 239000000428 dust Substances 0.000 claims description 66
- 238000003860 storage Methods 0.000 claims description 5
- 238000013459 approach Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 2
- 238000012369 In process control Methods 0.000 claims 1
- 238000010965 in-process control Methods 0.000 claims 1
- 238000004891 communication Methods 0.000 description 15
- 244000025254 Cannabis sativa Species 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- BVPWJMCABCPUQY-UHFFFAOYSA-N 4-amino-5-chloro-2-methoxy-N-[1-(phenylmethyl)-4-piperidinyl]benzamide Chemical compound COC1=CC(N)=C(Cl)C=C1C(=O)NC1CCN(CC=2C=CC=CC=2)CC1 BVPWJMCABCPUQY-UHFFFAOYSA-N 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000010407 vacuum cleaning Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008568 cell cell communication Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
- A47L7/0095—Suction cleaners or attachments adapted to collect dust or waste from power tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
- A47L9/19—Means for monitoring filtering operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2894—Details related to signal transmission in suction cleaners
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
Industrial vacuum cleaners are configured for servicing at least one construction tool (2), the vacuum cleaner (1) includes vacuum inlet (3), wherein the vacuum cleaner (1) further comprises controller (8) and the wireless transceiver (10) for being connected to the controller (8), memory (12) and at least one position and/or orientation sensor (11), it is configured for the positioning of detection vacuum cleaner position and/or other objects relative to vacuum cleaner (1), and wherein vacuum cleaner (1) further comprises the propulsion device (13) controlled by the controller (8).
Description
Technical field
The teachings of the present invention is related to Industrial vacuum cleaners, and relate more specifically to be configured for construction tool from
The automatic industrial vacuum cleaner of dynamicization service (servicing) and a kind of method of the automation services for construction tool.
Background technique
In construction site or other industrial operations building sites, vacuum cleaner is a kind of for removing by such as construction tool
The clast or other materials of generation and/or the common tool of dirt residue.Some type of construction tool is configured as connecting
Vacuum cleaner is connected to ensure to collect the dust generated at source.This often means that construction tool includes producing for collecting
Raw dust and dust is usually directed to the certain type of dress that can connect the dust discharger of vacuum cleaner
It sets.Because construction site may be very big and includes many different types of construction tools for needing to service, and because usually
The not vacuum cleaner with tool as many, so it may be time-consuming for finding still not used vacuum cleaner.It is each
It is expensive that tool, which distributes a vacuum cleaner,.
In addition, when vacuum cleaner is full of dust or clast, it is necessary to stop production in vacuum cleaner emptying.
And not all construction tool is fixed；For example, floor grinder is configured as on the floor that it is working
Top is mobile to ensure that surface is equably polished.For such application, the pipe that sanding machine is connected to vacuum cleaner can
Sanding machine can be ultimately interfered with, therefore always needs operator with ensure will not this thing happens.Operator usually also needs
Always more or less it can be seen that construction tool, this ultimately interferes with operator for work of constructing in vacuum cleaner during operation
It may be problematic when the sight of tool.Because wishing to make operator to be kept away from hostile environment always and reducing permission from applying
The amount of dust of work tool exhaust, it is desirable that finding a kind of method come operator's amount needed for reducing during certain programs
And convenient for providing vacuum cleaner, so that it is unnecessary that operator need not spend once using the construction tool for generating dust
Time collect dust.
Summary of the invention
The object of the present invention is to provide a kind of vacuum cleaner, a kind of construction tool, a kind of construction system and a kind of use
In the method for the automation services of construction tool, some problems of the prior art are alleviated.The purpose passes through with appended only
The concept of feature described in claim is found to realize；Its preferred embodiment limits in associated dependent claims.
According in a first aspect, providing a kind of automation vacuum cleaner.Vacuum cleaner is configurable for service extremely
A few construction tool, wherein vacuum cleaner includes vacuum inlet.Vacuum cleaner includes controller, is connected to the control
Wireless transceiver, memory and at least one position of device and/or orientation sensor, position and/or orientation sensor are matched
Set the positioning of position and/or other objects relative to vacuum cleaner for detecting vacuum cleaner.Vacuum cleaner is into one
Step includes the propulsion device controlled by the controller, and wherein automation vacuum cleaner is configured as from construction tool
The position of the construction tool is established when receiving wireless signal and is automatically relocated to promote as construction tool service.
Vacuum cleaner can be wirelessly communicated with construction tool at least to position these construction works relative to vacuum cleaner position as a result,
Have and automatically moves to construction tool.This means that operator need not take time to find vacuum cleaner and need not also check receipts
Collect dust.
In one embodiment, vacuum cleaner further comprises for detecting in the dust arrester of the vacuum cleaner
The sensor of dust levels.Vacuum cleaner can decide when to be switched to suction and instruction dust arrester be full of ash as a result,
The wireless signal of dirt is emitted to construction tool.Vacuum cleaner can also initiate purge routine.
In one embodiment, vacuum cleaner inlets include end, which is configured to connect on construction tool
Dust discharger.Vacuum inlet automatically can be physically connected to construction tool by vacuum cleaner as a result,.
In one embodiment, the vacuum inlet of vacuum cleaner is extensible pipe.Vacuum cleaner further comprises pipe
Supporting element and the retainer recalled for limiting the pipe.Pipe supporting element ensures that the end of pipe is maintained in correct position to connect and apply
The dust discharger of work tool.
The second aspect instructed herein provides a kind of construction tool.Construction tool is configured for attach to vacuum
Dust catcher and including controller, be connected to the wireless transmitter and/or wireless receiver, memory and extremely of the controller
A few position and/or orientation sensor.Construction tool can be communicated with vacuum cleaner and request vacuum cleaning as a result,
Device service.
In one embodiment, construction tool includes dust discharger, which is configured to connect to
The end of the vacuum inlet of the vacuum cleaner.
In one embodiment, construction tool includes the propulsion device controlled by the controller.
The third aspect instructed herein provides a kind of construction system.The system includes the vacuum according to first aspect
Dust catcher and construction tool according to second aspect.Vacuum cleaner is configured as wirelessly communicating simultaneously at least one construction tool
And position and orientation relative to construction tool described in vacuum cleaner position and direction and location.The usefulness of the system exists
In the operator of construction tool need not find vacuum cleaner, this is because vacuum cleaner is configured as receiving service
It is positioned when request and is moved to construction tool.
In one embodiment, which further comprises server, the server be configured as with vacuum cleaner and
At least one construction tool wireless communication.The server that may be coupled to internet allows the communication of bigger distance, or works as and deposit
Allow to communicate when for example blocking the wall of the conventional RF communications between vacuum cleaner and construction tool.
In one embodiment, which further comprises construction tool control device, the construction tool control device without
Line is connected to construction tool to be used to remotely control the construction tool by operator, and wherein vacuum cleaner is configured as
Ensure that it will not be rested in any position in the sight between construction tool control device and construction tool.This meaning
Vacuum cleaner avoided in the sight of operator being moved to construction tool for a long time, this is beneficial, because this is improved
Operator remotely controls the ability of construction tool.
According to the fourth aspect instructed herein, a kind of method of automation services for construction tool is provided.The party
Method includes: to emit wireless signal by construction tool, wherein the wireless signal is service request；Institute is received by vacuum cleaner
State wireless signal；And position of the construction tool relative to the vacuum cleaner is determined by the controller in vacuum cleaner
The position set and/or oriented and/or orientation.Vacuum cleaner is configured as being repositioned onto the control by vacuum cleaner as a result,
The position and/or orientation that device processed determines.This method eliminates the consumptions that vacuum cleaner is attempted to look for before using construction tool
When task, this also causes more commonly using vacuum cleaner.This improves the air quality in operation building site.
According to one embodiment, vacuum cleaner is configured as approach construction tool, so that vacuum inlet is connected to
The dust discharger of the construction tool of Launch Services for Foreign request.Vacuum cleaner is automatically physically connected to construction tool as a result,.
According to one embodiment, vacuum cleaner is configured as wireless when receiving service request from the construction tool
It is connected to construction tool, and wherein vacuum cleaner continuously monitors and movement is to be kept substantially connected construction tool
Position and/or orientation relative to vacuum cleaner.Vacuum cleaner can follow construction tool as a result, this is conducive to for example
Floor polishing is applied, wherein construction tool (that is, floor grinder) continuous moving on floor surface.
According to one embodiment, vacuum cleaner is configured as monitoring in the dust arrester of the vacuum cleaner collected
Dust level, and when indicating that container is filled more than threshold value, the wireless signal that is full of of transmitting instruction container.Work as construction
When tool receives the signal, this causes construction tool to stop, thus vacuum cleaner be configured as stop suction and with
Construction tool physically disconnects.The excessive filling of vacuum cleaner is thus avoided, this enables connected vacuum cleaner
Enough there is optimal suction performance.
According to one embodiment, vacuum cleaner is configured as a position of storage dust arrester emptying position, and is examining
When measuring the dust arrester of the vacuum cleaner and being filled, vacuum cleaner is moved to the emptying position.Operator as a result,
Vacuum cleaner need not be manually removed and bring it to suitable emptying position, this saves valuable time for operator.
According to one embodiment, vacuum cleaner is configured as connecting during the final stage of approach construction tool and take out
It inhales, to promote the connection between entrance and the dust discharger of construction tool.
According to one embodiment, vacuum cleaner is configured at least one position and/or orientation sensor comes
Detection and avoiding obstacles during the vacuum cleaner is mobile.This, which enables, vacuum cleaner avoiding obstacles and avoids card
On the article being placed on floor.
In the embodiment instructed herein, vacuum cleaner detects the position of construction tool control device, and is configured
To ensure that it will not be rested in any position in the sight between construction tool control device and construction tool.Cause
This, vacuum cleaner will not block the sight for construction tool of the operator for keeping control device.
In one embodiment, at least one vacuum cleaner and at least one construction tool can be with wireless pairings, thus
Allow the wireless communication between pairing unit.It, can be with by that can be initiated by operator or the pairing that is first carried out in advance by manufacturer
Establish the wireless communication between vacuum cleaner and construction tool.This also means that unpaired unit cannot be received or be interpreted from true
Vacuum cleaner and/or the wireless signal of construction tool transmitting.
Detailed description of the invention
It is more fully described the embodiment instructed herein below with reference to the accompanying drawings, how Detailed description of the invention is about can will be real
The non-limiting example that example is reduced to practice is applied, in the accompanying drawings:
Fig. 1 shows the exemplary schematic illustration of the automation vacuum cleaner and construction tool according to one embodiment,
Fig. 2 shows the function schematic diagram according to the automation vacuum cleaner of one embodiment,
Fig. 3 shows the function schematic diagram according to the construction tool of one embodiment,
Fig. 4 shows the exemplary schematic illustration of the automation vacuum cleaner and construction tool according to one embodiment,
Fig. 5 shows the exemplary schematic illustration of the construction system according to one embodiment,
Fig. 6 shows the method for the automation services for construction tool according to one embodiment.
Specific embodiment
The disclosed embodiments will be described more fully hereinafter with reference to the accompanying drawings now, shown in the drawings of of the invention
Some embodiments.Identical drawing reference numeral is referring to identical element in full.
Fig. 1 schematically illustrates robot manipulating task tool 1, is automation vacuum cleaner 1 and construction work in this example
Tool 2.Vacuum cleaner 1 be preferably Industrial vacuum cleaners, be configured for industrial use and for remove sawdust or
Other types of unwanted material.Vacuum cleaner 1 includes power supply, electric wire formula power supply, battery, internal combustion engine etc., quilt
It is configured to for promoting the power supply of vacuum cleaner 1 and/or for the mobile power supply of the function part for vacuum cleaner 1.It applies
Work tool 2 can be any kind of saw for needing or allow to connect vacuum cleaner or other wood processing machine devices, floor mill
The construction tool of ray machine or any other type.Construction tool 2 may include operation element, sanding machine, saw etc..Construction work
Tool 2 further comprises power supply, electric wire formula power supply, battery, internal combustion engine etc., is configured as the operation element to construction tool 2
Part, drive system and/or the power supply of other functional components.
In one embodiment, vacuum cleaner 1 is configured as being physically connected to construction tool 2 via vacuum inlet 3.Very
Vacuum cleaner 1 can be additionally configured to the route that tracking construction tool 2 has been advanced to collect the ash generated by construction tool 2
Dirt.It is to rely on and is produced when construction tool 2 is not suitably connected to the dust discharger 21 of vacuum cleaner vacuum inlet 3
When raw dust is pumped from floor surface, this is particularly useful.In this operation mode of vacuum cleaner 1, it is usually filled
Equipped with the mouthpiece for being suitable for aspirating floor surface.What vacuum cleaner 1 not necessarily must accurately advance with construction tool 2
Same paths and identical sequence/direction are advanced.It can be configured as storage construction tool routing information, then determine about
The best route of time efficiency and ensure that vacuum cleaner 1 will not ultimately interfere with construction tool 2.
In Fig. 1, vacuum cleaner 1 and construction tool 2 are shown in off-state, and wherein construction tool 2 does not need
It is serviced by vacuum cleaner 1.Therefore, vacuum inlet 3 is not connect with construction tool 2.Vacuum cleaner 1 and construction tool 2 are matched
It is set to wireless communication, thus construction tool can for example emit the service request that can be identified by vacuum cleaner 1.
Vacuum cleaner 1 may include vacuum inlet 3, is extensible pipe 3, can be extracted and recall, and only
Moving part 4 be arranged to stop recall the pipe 3 with ensure the end 6 of pipe 3 be maintained at be suitably connected to construction tool dust row
The position of device 21 out.Vacuum cleaner 1 can also include pipe supporting element 5, which is configured to support the freedom of pipe 3
End 6 and ensure that end 3 is maintained at the correct position for connecting dust discharger 21.It can further be seen from figure 1 that true
Vacuum cleaner 1 includes the wheel that vacuum cleaner can be made mobile, and wheel then may be coupled to propulsion device, that is, is used
In the motor for pivoting and/or rotating the wheel.Construction tool also may include wheel.Certainly, the end of vacuum cleaner 1
6 are configured as being located in such vertical height: the vertical height corresponds to the dust discharger of attachable construction tool
21 vertical height.
With reference to Fig. 2, the function schematic diagram of the embodiment of vacuum cleaner 1 is shown.Vacuum cleaner 1 includes controller 8, should
Controller can be believed by any suitable central processing unit CPU, microcontroller, number for being able to carry out computer program code
Number processor DSP etc. is constituted.Controller 8, which can be used, to be enabled the instruction of hardware capability and implements, for example, by using general or
It can store in application specific processor and executed on computer readable storage medium (disk, memory etc.) 12 by such processor
Executable computer program instruct to implement.Controller 8 can be used any suitable, publicly available processor or can compile
Journey logic circuit (PLC) is implemented.Memory 12 can be used for computer-readable memory any well-known technique (such as
ROM, RAM, SRAM, DRAM, FLASH, DDR, SDRAM or some other memory technologies) implement.Controller 8 is connected to nothing
Line communication interface 10, the wireless communication interface include wireless transceiver 10, which is configured as emitting and receiving nothing
Line signal.Individual transmitter and receiver can also be applied.The example of this wireless technology be IEEE802.11,
IEEE802.15、ZigBee、WirelessHART、WIFI、W-CDMA/HSPA, GSM, UTRAN and LTE etc..
It should be noted that there are other technologies and being considered as the obvious equivalent of this wireless communication interface.Wireless signal is preferred
Ground is RF signal, WIFI, bluetooth etc..In addition, vacuum cleaner 1 includes the memory 12 for being connected to controller 8, it is described to deposit
Reservoir is configured as electronically storing the information of other components from vacuum cleaner.In order to make 1 phase of vacuum cleaner
Other objects are positioned and are oriented, at least one position and/or orientation sensor 11 are provided.At least one position sensor 11
May include camera sensor, laser sensor, radar sensor, GPS device, inertial navigation system, in gyro sensor
At least one.It, can be in vacuum cleaner 1 in order to detect the relative position for the construction tool for wirelessly transmitting service request
Using multiple antenna receiver, therefore the reaching time-difference TDOA of signal can be calculated and angle of arrival AOA can also be calculated.Signal
Intensity can be used for calculating the distance that service signal is derived from where and distance signal source.Vacuum cleaner 1 further wraps
Propulsion device 13 as described above is included, is controlled by controller 8 vacuum cleaner 1 is moved to the mesh determined by controller 8
Ground.
It is no more than threshold value, vacuum cleaner 1 to monitor the amount of dust collected in the dust reservoir of vacuum cleaner 1
It may include the sensor 9 for detecting dust levels.Sensor 9 is connected to controller 8.This sensor 9 can by scale,
Filtered sensor etc. is constituted.
Fig. 3 is gone to, the function schematic diagram of the construction tool 2 according to one embodiment is shown.Construction tool 2 includes controller
22, and it is connected to the wireless transceiver 25 of the controller 22.As previously mentioned, transceiver can be by transmitter and receiver structure
As individual unit.Construction tool 2 further comprises being connected to the memory 24 of controller 22 and being also connected to controller 22
At least one position and/or orientation sensor 23.Sensor 23 is configured as at least detecting the orientation of construction tool 2, this will
Allow controller 22 that information is integrated in the transmitting of service request, and also individually emits directed information.This promotes vacuum to inhale
The automatic connection of dirt device 1 and construction tool 2.Sensor can be the magnetometer of the orientation for detecting construction tool 2, solid-state sieve
Disk or other devices.
Construction tool 2 may further include propulsion device 26, that is, the rotation of the wheel of control construction tool 2 and/or pivot
The motor turned.Propulsion device 26 is connected to controller 22, so that it is possible thereby to control the propulsion device.This makes for example
Construction tool 2 can be remotely controlled, such as floor grinder the case where is sometimes also such.
Fig. 4 shows the construction system according to one embodiment, which includes vacuum cleaner 1 and construction tool 2.Very
Vacuum cleaner 1 is configured as position and orientation with the wireless communication of at least one construction tool 2 and relative to vacuum cleaner 1
Position position and the orientation of the construction tool 2, this allows the vacuum cleaner by propulsion device that vacuum inlet 3 is mobile
With the dust discharger 21 for being connected to construction tool 2.Since the quantity of construction tool 2 is usually above the vacuum on operation building site
The quantity of dust catcher 1, so vacuum cleaner 1 can be advanced automatically by introduction herein between different construction tools 2, this
Promote to be that multiple construction tools 2 provide service.In the case where construction tool 2 is designed to mobile during operation, vacuum is inhaled
Dirt device 1 can also follow construction tool 2.This is by the wireless communication between vacuum cleaner 1 and construction tool 2 and by true
At least one position of vacuum cleaner and/or the positioning of orientation sensor 11 and/or construction tool 2 and/or orientation sensor 23
To realize.As shown in Figure 5, construction system may include server 14, such as database server or the communication server, permit
Perhaps it is communicated and is directly communicated with each other by the server 14 between vacuum cleaner 1 and construction tool 2a, 2s.Service
Device 14 may be also connected to internet, allow another portion with the building that can not for example reach by direct RF wireless communication
Other servers 14 in point are communicated.
Fig. 6 shows the method for the automation services for construction tool according to one embodiment.This method is shown
For flow chart, it is noted that various steps can be consecutively carried out, and not necessarily executed according to sequence illustrated in fig. 6.
In order to wirelessly communicate according to being established between the unit in the construction system instructed herein, vacuum cleaner 1 and apply
Work tool may need to match, this is the common program for establishing wireless communication between cells.This may include transmitting and receives
Identifier, and operator may be needed to input.Specifically, this might mean that when operator is by new 1 band of vacuum cleaner
When to operation building site, operator presses pairing button, which allows for vacuum cleaner 1 to be connected on operation building site
Construction tool 2 and these construction tools are requested to 1 Launch Services for Foreign of vacuum cleaner.Pairing can also be by making
It makes quotient to carry out in advance, so that all construction tools and vacuum cleaner pairing from particular manufacturer, so that it
Be able to carry out wireless communication.
If vacuum cleaner 1 is not yet connected to construction tool 2 when connecting, the hair of service request can be performed automatically
Penetrate S2.It can also activate the service request button on construction tool 2 to emit by operator.Service request may include closing
In the orientation of construction tool 2 and/or the information of position.When vacuum cleaner 1 receives the information, vacuum cleaner 1 is determined
Position and/or orientation of the construction tool relative to 1 position of vacuum cleaner.As previously mentioned, by using on vacuum cleaner 1
At least one position and/or orientation sensor 11 realize this point.When determining relative position/orientation of construction tool 2, very
Vacuum cleaner 1 is by activating propulsion device 13 to move S4, so that vacuum cleaner 1 is set from correct angle approach construction
For to allow the end 6 of vacuum inlet 3 to be connected to the dust discharger 21 of construction tool 2.In the mobile phase of vacuum cleaner 1
Between, at least one position and/or orientation sensor 11 can be configured as and detect possible barrier, such as wall or stair,
It is possible thereby to avoid interference to guide vacuum cleaner 1 far from these barriers by controller 8.In order to promote vacuum inlet 3
End 6 be connected to the final stage of dust discharger 21, suction can be connected by controller 8 with allow to aspirate connection this
The two and the final subtle movement/orientation error for correcting vacuum cleaner 1 and/or construction tool.
Vacuum cleaner 1 can be additionally configured to be connected wirelessly to apply when receiving service request from construction tool 2
Work tool 2.This allows the vacuum cleaner 1 continuously to monitor and move to be kept substantially connected 2 phase of construction tool
Position and/or orientation for vacuum cleaner 1.This allows vacuum cleaner 1 to follow construction tool 2 when moving.Construction work
Tool 2 can be configured as when move by position and/or the detection construction tool 2 of orientation sensor 23 and wirelessly pass the time
Connected vacuum cleaner 1 is sent to allow the vacuum cleaner correspondingly to move.Once vacuum cleaner 1 physically connects
To construction tool 2, construction tool 2, which can be configured as, emits wireless signal when operator is using tool 2, thus vacuum cleaning
Device 1 starts to aspirate, and also emits wireless signal when operator stops using tool 2.
Vacuum cleaner 1 can be additionally configured to the dust levels in the dust arrester of vacuum cleaner 1 described in monitoring S5.This
Vacuum cleaner is allowed to determine when reach some dust levels threshold value, vacuum cleaner 1 can the transmitting when reaching the threshold value
It indicates the wireless signal that reservoir is full of, when construction tool 2 receives the wireless signal, causes construction tool 2 to stop, thus
Vacuum cleaner 1 can be configured as stopping and aspirate and physically disconnect with construction tool 2.Vacuum cleaner 1 can also quilt
It is configured to some position of storage dust arrester emptying position, and is detecting that the dust arrester of the vacuum cleaner 1 is filled
When, vacuum cleaner 1 is moved to the emptying position.This can be for example, by storing GPS location or passing through vacuum cleaner 1
RF position to realize.
It should be mentioned that present inventive concept is never limited to, embodiment described herein and do not departing from appended right
It is required that several modifications can be carried out in the case where the scope of the present invention limited.For example, automation services can be applied to for example
Grass catcher, they are configured as collecting the grass cut by grass trimmer with amiable automatically, as will be briefly described.
In one embodiment, the first power tool be configurable for service at least the second power tool, described first
Power tool includes extensible tube, and first power tool further comprises the retainer recalled for limiting the pipe, described
Pipe includes the end of discharger for being configured for being connected on the second power tool, wherein first power tool into
One step includes controller and wireless transceiver, the memory for being connected to the controller, and is configured for detection first and moves
At least one position of the positioning of power tool location and/or other objects and/or orientation sensor, and wherein the first power work
Tool further comprises the propulsion device controlled by the controller.In one embodiment, a kind of power tool system is provided,
It includes the first power tool and the second power tool.First power tool be configured as at least one the second power tool without
Line communication and position and the orientation that second power tool is positioned relative to the first power tool position and orientation.
In one embodiment, the first power tool is the grass catcher or vacuum cleaner for being arranged to collection grass, and the
Two power tools are the robot grass trimmers for being arranged to mowing.Ejection device is to spray careless device.
In one embodiment, the first power tool is the collection ice device or vacuum cleaner for being arranged to collection ice, and the
Two power tools are the ice face reformation machines for being arranged to the surface of cleaning peace skating layer.
In one embodiment, the first power tool is to be arranged to the golf collector for collecting golf or true
Vacuum cleaner, and the second power tool is the robot grass trimmer for being arranged to mowing.Ejection device is that golf sprays dress
It sets.
As having been disclosed above, teachings of the present application thus provides a kind of automation vacuum cleaner, is configured
To be aligned with construction tool by relocating its own position so that being carried out to the dust product generated by construction tool
Suction is to service the construction tool.In the embodiment that construction tool is floor grinder (or sander), vacuum cleaner is logical
It crosses and the floor area handled by floor grinder is aspirated to service floor grinder.
When construction tool is mobile, vacuum cleaner by adjusting its propulsion device and can follow construction tool opposite
It is relocated in construction tool, so that vacuum cleaner aims at construction tool and follows behind construction tool, tightly
And then construction tool or away from construction tool a distance, to service the region in processing region, without have for example by
In the risk that passerby causes any dust or other clasts to spread before cleaning the region.
Alternatively or additionally, vacuum cleaner can be configured as by the location information note by receiving construction tool
Record follows construction tool by the path that construction tool is taken and when construction tool is mobile, and covers road identical with construction tool
Diameter.Its position continuously or with aturegularaintervals is emitted to vacuum cleaner by floor grinder, which tracks floor
The progress of sanding machine simultaneously records taken path.Then, when vacuum cleaner is set to services terrestrial sanding machine, it is logical
The same paths that follow floor polisher to be taken are crossed to relocate own.Which ensure that two machines can handle it is identical
Path, even if vacuum cleaner is not set to operate simultaneously with floor polisher, this makes vacuum cleaner clothes
It is engaged in more than one floor grinder.
In order to enable vacuum cleaner can service identical region with floor polisher, but must be with identical sequence
Service, to allow to carry out other operations in some regions or by following more shortest path from the current location of vacuum cleaner,
Vacuum cleaner can be configured as to be recorded by the location information by receiving construction tool by applying when construction tool is mobile
The region of work tool covering and follow construction tool, and cover identical with construction tool path.When record path, vacuum is inhaled
Dirt device can recorde a region, then determine the propulsion of its own to cover identical region-but not necessarily along identical
Path.
In order to carry out closer service, the entrance of vacuum cleaner may include end 6, which is configured as
The dust discharger 21 being connected on construction tool 2, and wherein vacuum cleaner 1 is configured as by by the end of entrance 3
Dust discharger 21 that portion 6 is attached on construction tool 2 relocates.This allows vacuum cleaner to be physically connected to construction
Tool, so that it can be aspirated directly at the operating area of floor grinder or zone of action.Which ensure that efficient
Suction.
Vacuum cleaner is prematurely separated with floor grinder in order to prevent, and vacuum inlet 3 is extensible pipe 3, and true
Vacuum cleaner 1 further comprises pipe supporting element 5 and the retainer 4 recalled for limiting the pipe 3.
In one embodiment, navigation sensor is position sensor, is configured for detection vacuum cleaner position
So that vacuum cleaner can navigate according to its current location.This permission vacuum cleaner follows path or the row of record
Enter determining position, the position of such as construction tool.
In one embodiment, navigation sensor is orientation sensor 11, is configured for detecting other objects opposite
It is positioned so that vacuum cleaner in vacuum cleaner 1 and can be navigated according to surrounding objects.This makes vacuum cleaner
Its stroke can be adjusted based on the object that detection may be not present when construction tool operates, and also allows vacuum cleaner
It navigates without being blocked or being blocked in other ways by furniture, structure or other objects.
As described above, vacuum cleaner can also include sensor 9 with the dust arrester for detecting the vacuum cleaner 1
In dust levels.Vacuum cleaner 1 is configured as when detection dust levels are more than threshold level and move in response to this
Dynamic dust dumping stations.This enables vacuum cleaner to follow and services floor grinder, as long as it has the energy for collecting dust
Power.When vacuum cleaner is full of, it, which may fall off or interrupt in other ways, follows floor grinder, goes to and topples over
It stands, empties or replace its dust arrester, then by catching up with floor grinder, by following identical path or covering and floor to grind
The identical region in the region that ray machine is covered is back to continue to service floor grinder.
It is configured as the floor grinder serviced by automation vacuum cleaner 1 or therefore other construction tools is configured as
Its position is emitted to automation vacuum cleaner 1 so that automation vacuum cleaner 1 can relocate.
As described above, vacuum cleaner therefore can be with one or more construction tool wireless pairings.This allows a suction
Dirt device services more than one construction tool, this is arranged to covering path identical with construction tool or region in vacuum cleaner
When be particularly useful.Then vacuum cleaner can be set as to the operation after (such as at night) using construction tool, then
Cover more than one construction tool.
Similarly, a construction tool can be matched with more than one vacuum cleaner, then these vacuum cleaner energy
It is enough to service the same construction tool in turn, or done so simultaneously for large capacity construction tool.This is but also these vacuum are inhaled
Dirt device can be grasped by based on immediate construction tool or in a manner of the optimization of the overlay area of the position of vacuum cleaner
Make.
Claims (24)
1. the vacuum cleaner of automation, is configured for servicing at least one construction tool (2), the vacuum cleaner (1)
Including vacuum inlet (3), controller (8) and be connected to the wireless transceiver (10) of the controller (8), memory (12) with
And at least one navigation sensor, the vacuum cleaner (1) further comprise the propulsion device controlled by the controller (8)
(13), the vacuum cleaner (1) and wherein automated is configured as, and is receiving wireless signal from construction tool (2)
When, it determines the position of the construction tool (2) and automatically relocates to promote the service to the construction tool (2).
2. the vacuum cleaner of automation according to claim 1 leads to wherein the vacuum cleaner (1) is configured as
It crosses and adjusts the propulsion device of the vacuum cleaner when the construction tool is mobile and follow the construction tool to carry out weight
New definition.
3. the vacuum cleaner of automation according to claim 2, wherein the vacuum cleaner (1) is configured as,
The construction tool is followed at the construction tool rear by following when the construction tool is mobile.
4. the vacuum cleaner of automation according to claim 2, wherein the vacuum cleaner (1) is configured as,
It is taken by the location information record by receiving the construction tool by the construction tool when construction tool is mobile
Path and follow the construction tool, and cover identical with construction tool path.
5. the vacuum cleaner of automation according to claim 2, wherein the vacuum cleaner (1) is configured as,
It is covered by the location information record by receiving the construction tool by the construction tool when construction tool is mobile
Region and follow the construction tool, and cover identical with construction tool region.
6. the vacuum cleaner of automation according to any one of the preceding claims, wherein the entrance (3) includes end
Portion (6), the end are configured to connect to the dust discharger (21) on the construction tool (2), and wherein described true
Vacuum cleaner (1) is configured as the institute by being attached to the end (6) of the entrance (3) on the construction tool (2)
Dust discharger (21) is stated to relocate.
7. the vacuum cleaner of automation according to claim 6, wherein the vacuum inlet (3) is extensible pipe (3),
And wherein the vacuum cleaner (1) further comprises the retainer of pipe supporting element (5) and the limitation pipe (3) recalled
(4)。
8. the vacuum cleaner of automation according to any one of the preceding claims, wherein the navigation sensor is position
Sensor is set, which is configured for the position of detection vacuum cleaner so that the vacuum cleaner being capable of root
It navigates according to its current location.
9. the vacuum cleaner of automation according to any one of the preceding claims, wherein the navigation sensor is fixed
To sensor (11), which is configured for detecting positioning of other objects relative to the vacuum cleaner (1)
So that the vacuum cleaner can navigate according to surrounding objects.
10. the vacuum cleaner of automation according to any one of the preceding claims, wherein the vacuum cleaner (1)
It further comprise and the wherein institute for detecting the sensor of the dust levels in the dust arrester of the vacuum cleaner (1) (9)
It states vacuum cleaner (1) and is configured as when detection dust levels are more than threshold level and move dust in response to this and topple over
It stands.
11. construction tool is configured as the vacuum cleaner (1) by automation according to any one of the preceding claims
It services, the construction tool (2) includes controller (22) and the wireless transmitter (25) for being connected to the controller (22), deposits
Reservoir (24) and at least one position and/or orientation sensor (23), wherein the construction tool is configured as applying described
The position of work tool is emitted to the vacuum cleaner (1) of automation so that the vacuum cleaner (1) energy automated
It is enough to relocate.
12. construction tool according to claim 11, wherein the construction tool (2) includes dust discharger (21),
The dust discharger is configured to connect to the end (6) of the vacuum inlet (3) of the vacuum cleaner (1).
13. construction tool according to claim 11 or 12, wherein the construction tool (2) is mobile construction tool,
It and further comprise the propulsion device (26) controlled by the controller (22).
14. construction system, which includes according to claim 1 to the vacuum cleaner of automation described in any one of 10
(1) and according to claim 1 at least one construction tool (2) described in any one of 1 to 13, wherein the vacuum cleaner
(1) it is configured as being wirelessly communicated at least one described construction tool (2) for servicing at least one described construction tool
(2)。
15. construction system according to claim 14, wherein the system further comprises server (14), the service
Device is configured as wirelessly communicating with the vacuum cleaner (1) of automation and at least one described construction tool (2).
16. construction system described in any one of 4 and 15 according to claim 1, wherein the system further comprises construction work
Have control device (15), the construction tool control device is wirelessly connected to the construction tool (2) for remote by operator
Construction tool described in process control (2), and wherein the vacuum cleaner (1) is configured to ensure that the vacuum cleaner will not stop
It stays in any position in the sight between the construction tool control device (15) and the construction tool (2).
17. the method for the automation services for construction tool, wherein the method includes；It is sent out by the construction tool (2)
Wireless signal is penetrated, wherein the wireless signal is service request；The wireless signal is received by vacuum cleaner (1)；And by
The controller (8) determines the construction tool (2) relative to the vacuum cleaner (1) by analyzing the service request
Position and/or orientation position and/or orientation, thus the vacuum cleaner (1) is configured as being repositioned by described
The position and/or orientation that the controller (8) of vacuum cleaner determines.
18. the method for the automation services according to claim 17 for construction tool, wherein the vacuum cleaner
(1) it is configured as close to the construction tool (2), so that the vacuum inlet (3) is connected to the transmitting service request
The construction tool the dust discharger (21).
19. the method described in any one of 7 to 18 for the automation services of construction tool according to claim 1, wherein institute
Vacuum cleaner (1) is stated to be configured as being wirelessly connected to the construction when receiving service request from the construction tool (2)
Tool (2), and wherein the vacuum cleaner (1) continuously monitors and movement is to be kept substantially connected construction tool
(2) position relative to the vacuum cleaner (1) and/or orientation.
20. the method described in any one of 7 to 19 for the automation services of construction tool according to claim 1, wherein institute
Vacuum cleaner (1) is stated to be configured as monitoring the level of the collected dust in the dust arrester of the vacuum cleaner,
And when indicating that the dust arrester is filled more than threshold value, the wireless signal that transmitting instruction dust arrester is full of is applied when by described
When work tool (2) receives the wireless signal, which causes the construction tool (2) to stop, and thus the vacuum is inhaled
Dirt device (1) is configured as stopping aspirating and physically disconnecting with the construction tool (2).
21. the method for the automation services according to claim 20 for construction tool, wherein the vacuum cleaner
(1) it is configured as a position of storage dust arrester emptying position, and in the dust for detecting the vacuum cleaner (1)
When device is filled, the vacuum cleaner (1) is moved to the emptying position.
22. the method described in any one of 8 to 21 for the automation services of construction tool according to claim 1, wherein institute
It states vacuum cleaner (1) and is configured as connecting suction during the final stage of approach construction tool (2) to promote the entrance
(3) connection between the dust discharger (21) of the construction tool (2).
23. the method described in any one of 7 to 22 for the automation services of construction tool according to claim 1, wherein institute
State that vacuum cleaner (1) is configured at least one described position and/or orientation sensor (11) inhales in the vacuum
The mobile period of dirt device (1) detects and avoiding obstacles.
24. the method described in any one of 7 to 23 for the automation services of construction tool according to claim 1, wherein institute
The position of vacuum cleaner (1) detection construction tool control device (15) is stated, and is configured to ensure that the vacuum cleaner
Any position in the sight between the construction tool control device (15) and the construction tool (2) will not be rested on
In.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1650422 | 2016-03-31 | ||
| SE1650422-7 | 2016-03-31 | ||
| PCT/SE2017/050241 WO2017171609A1 (en) | 2016-03-31 | 2017-03-13 | Industrial automated vacuum cleaner and method for automated servicing of construction tools |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109196436A true CN109196436A (en) | 2019-01-11 |
| CN109196436B CN109196436B (en) | 2021-06-04 |
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ID=59965011
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780033089.3A Active CN109196436B (en) | 2016-03-31 | 2017-03-13 | Industrial automation vacuum cleaner and method for work tool automation service |
Country Status (5)
| Country | Link |
|---|---|
| US (2) | US11089925B2 (en) |
| EP (1) | EP3436881B1 (en) |
| CN (1) | CN109196436B (en) |
| AU (1) | AU2017244736B2 (en) |
| WO (1) | WO2017171609A1 (en) |
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|---|---|---|---|---|
| GB2583629B (en) | 2012-07-17 | 2021-06-09 | Milwaukee Electric Tool Corp | Universal protocol for power tools |
| CN111093452A (en) | 2017-07-05 | 2020-05-01 | 米沃奇电动工具公司 | Adapter for communication between power tools |
| US11011053B2 (en) | 2018-07-31 | 2021-05-18 | Tti (Macao Commercial Offshore) Limited | Systems and methods for remote power tool device control |
| US11787578B2 (en) * | 2020-09-25 | 2023-10-17 | Express Scripts Strategic Development, Inc. | Cleaner assembly for an automated dispensing device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109196436B (en) | 2021-06-04 |
| EP3436881B1 (en) | 2022-07-27 |
| US20210345844A1 (en) | 2021-11-11 |
| EP3436881A1 (en) | 2019-02-06 |
| US11089925B2 (en) | 2021-08-17 |
| AU2017244736B2 (en) | 2021-04-01 |
| EP3436881A4 (en) | 2019-09-11 |
| WO2017171609A1 (en) | 2017-10-05 |
| US20190110651A1 (en) | 2019-04-18 |
| US11471013B2 (en) | 2022-10-18 |
| AU2017244736A1 (en) | 2018-10-18 |
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